Publication

Improved modelling of a monomorph piezoelectric actuator for linear self-sensing applications

Related publications (33)

Additively manufactured stretchable zipping electrostatic actuators

The use of soft and stretchable materials allows the development of adaptive robotic systems and human-machine interfaces that are more natural and comfortable to interact with. One of the application fields that benefits the most from these compliant mate ...

EPFL2024

SOFT BIDIRECTIONAL BENDING ACTUATOR BASED ON MAGNETORHOGICAL FLUIDS

Timothée Hirt

The goal of this project is to design and fabricate a bidirectional bending actuator for soft robotics applications. The actuation principle will be based on magnetorheological fluids (MRFs). MRFs are smart materials consisting of micro-meter-sized particl ...

2023

Design and modelling of a tubular dielectric elastomer actuator with constrained radial displacement as a cardiac assist device

Yves Perriard, Yoan René Cyrille Civet, Armando Matthieu Walter, Jonathan André Jean-Marie Chavanne

In this paper, we propose an improvement of a dielectric elastomer actuator (DEA) based augmented aorta. The actuator is a multi-layered tubular DEA subject to the internal pressure of the blood. When activated in synchronisation with the heart, the DEA su ...

IOP PUBLISHING LTD2021

Sensorless Quasi-static Piezoelectric Actuator for Micro-Robotics

Louis Antoine Masson

Research interest into the miniaturisation of micro-robots has soared in recent years due to the availability of suitable integrated actuators. The reduction in size of these components is achieved through the implementation of Self-Sensing Actuation (SSA) ...

EPFL2020

Identification of material parameters of a tubular dielectric elastomer actuator for a cardiac assist device

Yves Perriard, Yoan René Cyrille Civet, Thomas Guillaume Martinez, Jonathan André Jean-Marie Chavanne

The recent development of Dielectric Elastomer Actuators (DEA) requires a new approach to the description of hyperelastic material when the architectures are more complex than a film of material. In this paper, we propose a new technique of identification ...

2020

Dynamically reconfigurable DEAs incorporating shape memory polymer fibers

Herbert Shea, Bekir Aksoy

We present variable stiffness dielectric elastomer actuators (DEAs), combining a single DEA actuator with embedded shape memory polymer (SMP) fibers, which can be electrically addressed to locally reduce the stiffness by a factor of 100. The device accommo ...

SPIE-INT SOC OPTICAL ENGINEERING2019

Minimum Energy Adaptive Structures – All-In-One Problem Implementation

Gennaro Senatore, Jan Friedrich Georg Brütting, Yafeng Wang

This paper presents new implementations of a design method to obtain minimum energy adaptive structures. The design method was formulated in previous work [1, 2] for reticular structures equipped with sensors (e.g. strain, optical) and linear actuators. Th ...

2019

Folded-Tube Soft Pneumatic Actuators for Bending

Wyatt Marshall Felt

This article presents a model and experimental results for a new class of bending soft pneumatic actuators (SPAs) made from a single section of thin-walled flexible tubing. The actuator is formed by creasing the tubing into fin-like rectangular folds and i ...

MARY ANN LIEBERT, INC2019

Frequency-Aware Model Predictive Control

Marco Hutter, Farbod Farshidian

Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion infeasible on th ...

2019

Tip connector for fluidic and electrical connection

Philippe Renaud, Yann Barrandon, David Vincent Bonzon, David Forchelet, Jean-Baptiste Bureau, Nicolas Uffer

A connector for providing both a fluidic and electrical connection is disclosed, said connector having a proximal end, a distal end and an elongated body in between, characterized in that the elongated body has an inner cavity spanning throughout its lengt ...

2018

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